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<div class="title">hough_3d.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  </span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id:$</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_RECOGNITION_HOUGH_3D_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_RECOGNITION_HOUGH_3D_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/cg/correspondence_grouping.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/boost.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">namespace </span>recognition</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  {</div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_hough_space3_d.html">   55</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1recognition_1_1_hough_space3_d.html">HoughSpace3D</a></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;        EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      </div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_hough_space3_d.html#a8ec9a3c8ce71066918e4311df5f1fcbc">   68</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_hough_space3_d.html#a8ec9a3c8ce71066918e4311df5f1fcbc">HoughSpace3D</a> (<span class="keyword">const</span> Eigen::Vector3d &amp;min_coord, <span class="keyword">const</span> Eigen::Vector3d &amp;bin_size, <span class="keyword">const</span> Eigen::Vector3d &amp;max_coord);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_hough_space3_d.html#a02883fef1635f8acff4ec0eb9734ccb8">   72</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_hough_space3_d.html#a02883fef1635f8acff4ec0eb9734ccb8">reset</a> ();</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_hough_space3_d.html#a5291aa83dd66fab19878ac47388c7ddf">   82</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_hough_space3_d.html#a5291aa83dd66fab19878ac47388c7ddf">vote</a> (<span class="keyword">const</span> Eigen::Vector3d &amp;single_vote_coord, <span class="keywordtype">double</span> weight, <span class="keywordtype">int</span> voter_id);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_hough_space3_d.html#a9edb239fdfeccede06621d455bf683dd">   92</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_hough_space3_d.html#a9edb239fdfeccede06621d455bf683dd">voteInt</a> (<span class="keyword">const</span> Eigen::Vector3d &amp;single_vote_coord, <span class="keywordtype">double</span> weight, <span class="keywordtype">int</span> voter_id);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="keywordtype">double</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_hough_space3_d.html#a49c4530975900e5d9d5c882858ca56fd">  103</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_hough_space3_d.html#a49c4530975900e5d9d5c882858ca56fd">findMaxima</a> (<span class="keywordtype">double</span> min_threshold, std::vector&lt;double&gt; &amp; maxima_values, std::vector&lt;std::vector&lt;int&gt; &gt; &amp;maxima_voter_ids);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_hough_space3_d.html#ac81d49cf5a916c3c7d39d96dff01826f">  108</a></span>&#160;        Eigen::Vector3d <a class="code" href="classpcl_1_1recognition_1_1_hough_space3_d.html#ac81d49cf5a916c3c7d39d96dff01826f">min_coord_</a>;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_hough_space3_d.html#add6880af75dcef7fff2b94a1a7de6747">  111</a></span>&#160;        Eigen::Vector3d <a class="code" href="classpcl_1_1recognition_1_1_hough_space3_d.html#add6880af75dcef7fff2b94a1a7de6747">bin_size_</a>;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_hough_space3_d.html#a28389f1e0298086a023af7b97b1a6f62">  114</a></span>&#160;        Eigen::Vector3i <a class="code" href="classpcl_1_1recognition_1_1_hough_space3_d.html#a28389f1e0298086a023af7b97b1a6f62">bin_count_</a>;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_hough_space3_d.html#a1a995f6b1e6d5bbabb0d6d9fd445f921">  117</a></span>&#160;        <span class="keywordtype">int</span> partial_bin_products_[4];</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_hough_space3_d.html#a1ea4505f978658663fabae1f344fe5fb">  120</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1recognition_1_1_hough_space3_d.html#a1ea4505f978658663fabae1f344fe5fb">total_bins_count_</a>;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_hough_space3_d.html#a535f20e1abeaa902fd942d4e1a74604c">  123</a></span>&#160;        std::vector&lt;double&gt; <a class="code" href="classpcl_1_1recognition_1_1_hough_space3_d.html#a535f20e1abeaa902fd942d4e1a74604c">hough_space_</a>;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <span class="comment">//boost::unordered_map&lt;int, double&gt; hough_space_;</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_hough_space3_d.html#aded7b5ebab3f5b3ffb8a86e34eabe980">  127</a></span>&#160;        boost::unordered_map&lt;int, std::vector&lt;int&gt; &gt; <a class="code" href="classpcl_1_1recognition_1_1_hough_space3_d.html#aded7b5ebab3f5b3ffb8a86e34eabe980">voter_ids_</a>;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    };</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>ModelT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>SceneT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>ModelRfT = pcl::ReferenceFrame, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>SceneRfT = pcl::ReferenceFrame&gt;</div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html">  145</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_hough3_d_grouping.html">Hough3DGrouping</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_correspondence_grouping.html">CorrespondenceGrouping</a>&lt;PointModelT, PointSceneT&gt;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  {</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointModelRfT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">ModelRfCloud</a>;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> ModelRfCloud::Ptr ModelRfCloudPtr;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> ModelRfCloud::ConstPtr ModelRfCloudConstPtr;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointSceneRfT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">SceneRfCloud</a>;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> SceneRfCloud::Ptr SceneRfCloudPtr;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> SceneRfCloud::ConstPtr SceneRfCloudConstPtr;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointModelT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::CorrespondenceGrouping&lt;PointModelT, PointSceneT&gt;::SceneCloudConstPtr SceneCloudConstPtr;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#ad4aa8ea44d4c35082b7beac6cc3cc730">  163</a></span>&#160;      <a class="code" href="classpcl_1_1_hough3_d_grouping.html#ad4aa8ea44d4c35082b7beac6cc3cc730">Hough3DGrouping</a> () </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        : <a class="code" href="classpcl_1_1_hough3_d_grouping.html#ac15a3f73f40e24c79fcd74bf35ffe045">input_rf_</a> ()</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        , <a class="code" href="classpcl_1_1_hough3_d_grouping.html#af5117555131a60e60ba2928005981f7a">scene_rf_</a> ()</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        , <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a565b7cd857b83ecfb6b89c64c2fc4067">needs_training_</a> (true)</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        , <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a857b94d7c2951510b6e4990e5561b049">model_votes_</a> ()</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        , <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a4143dedbc983daf41a4a1247ae93fb61">hough_threshold_</a> (-1)</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        , <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a6f8845c48f998be01898b5e98dde61df">hough_bin_size_</a> (1.0)</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        , <a class="code" href="classpcl_1_1_hough3_d_grouping.html#aee23f5064417bd6cbee419ab57d65d67">use_interpolation_</a> (true)</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        , <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a54c782e31602fd647fd4973871c70002">use_distance_weight_</a> (false)</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        , <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a167c6e65e18cf2b7524630ce7c4f8b53">local_rf_normals_search_radius_</a> (0.0f)</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        , <a class="code" href="classpcl_1_1_hough3_d_grouping.html#aea394d09fe22404ae9487c762c034c08">local_rf_search_radius_</a> (0.0f)</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        , <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a8273da7056cb2fedbfb86e29ea3b188b">hough_space_</a> ()</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        , <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a93db7b188c28ab188c34070408bc0940">found_transformations_</a> ()</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        , <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a693bad31eef837767c419eafef1c369f">hough_space_initialized_</a> (false)</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      {}</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#a128db6281c9d8e0b38c6d430ef058116">  183</a></span>&#160;      <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a128db6281c9d8e0b38c6d430ef058116">setInputCloud</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud)</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      {</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        <a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">PCLBase&lt;PointModelT&gt;::setInputCloud</a> (cloud);</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a565b7cd857b83ecfb6b89c64c2fc4067">needs_training_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a693bad31eef837767c419eafef1c369f">hough_space_initialized_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        <a class="code" href="classpcl_1_1_hough3_d_grouping.html#ac15a3f73f40e24c79fcd74bf35ffe045">input_rf_</a>.reset();</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      }</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#a8f7af4b86f2f7effa2eabd844f4ffe28">  198</a></span>&#160;      <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a8f7af4b86f2f7effa2eabd844f4ffe28">setInputRf</a> (<span class="keyword">const</span> ModelRfCloudConstPtr &amp;input_rf)</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      {</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        <a class="code" href="classpcl_1_1_hough3_d_grouping.html#ac15a3f73f40e24c79fcd74bf35ffe045">input_rf_</a> = input_rf;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a565b7cd857b83ecfb6b89c64c2fc4067">needs_training_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a693bad31eef837767c419eafef1c369f">hough_space_initialized_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      }</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      <span class="keyword">inline</span> ModelRfCloudConstPtr</div>
<div class="line"><a name="l00212"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#a052ec949ec7c04d06e79c9a8068a433b">  212</a></span>&#160;      <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a052ec949ec7c04d06e79c9a8068a433b">getInputRf</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_hough3_d_grouping.html#ac15a3f73f40e24c79fcd74bf35ffe045">input_rf_</a>);</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      }</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00222"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#a877d543207cc31cb21536ec566f5b3e9">  222</a></span>&#160;      <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a877d543207cc31cb21536ec566f5b3e9">setSceneCloud</a> (<span class="keyword">const</span> SceneCloudConstPtr &amp;scene)</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      {</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        <a class="code" href="classpcl_1_1_correspondence_grouping.html#ab2b931fafa436428801a5674298c8e44">scene_</a> = scene;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a693bad31eef837767c419eafef1c369f">hough_space_initialized_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        <a class="code" href="classpcl_1_1_hough3_d_grouping.html#af5117555131a60e60ba2928005981f7a">scene_rf_</a>.reset();</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      }</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00236"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#a2ad258fd1cd391d8e3ee09adc4cc94e3">  236</a></span>&#160;      <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a2ad258fd1cd391d8e3ee09adc4cc94e3">setSceneRf</a> (<span class="keyword">const</span> SceneRfCloudConstPtr &amp;scene_rf)</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      {</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        <a class="code" href="classpcl_1_1_hough3_d_grouping.html#af5117555131a60e60ba2928005981f7a">scene_rf_</a> = scene_rf;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a693bad31eef837767c419eafef1c369f">hough_space_initialized_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      }</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      <span class="keyword">inline</span> SceneRfCloudConstPtr</div>
<div class="line"><a name="l00249"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#adc098cef4277d39060683e4cbffd020e">  249</a></span>&#160;      <a class="code" href="classpcl_1_1_hough3_d_grouping.html#adc098cef4277d39060683e4cbffd020e">getSceneRf</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_hough3_d_grouping.html#af5117555131a60e60ba2928005981f7a">scene_rf_</a>);</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      }</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00261"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#a597bc71af146923a2717359e8ed45e50">  261</a></span>&#160;      <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a597bc71af146923a2717359e8ed45e50">setModelSceneCorrespondences</a> (<span class="keyword">const</span> CorrespondencesConstPtr &amp;corrs)</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      {</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        <a class="code" href="classpcl_1_1_correspondence_grouping.html#a0a7d1212a23f16717d0ea30f83a79578">model_scene_corrs_</a> = corrs;</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;        <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a693bad31eef837767c419eafef1c369f">hough_space_initialized_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      }</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00275"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#ac832e662f91a1442357102e1fcc86ead">  275</a></span>&#160;      <a class="code" href="classpcl_1_1_hough3_d_grouping.html#ac832e662f91a1442357102e1fcc86ead">setHoughThreshold</a> (<span class="keywordtype">double</span> threshold)</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      {</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;        <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a4143dedbc983daf41a4a1247ae93fb61">hough_threshold_</a> = threshold;</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      }</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00285"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#a55521f52145fad420cfae41ce4740150">  285</a></span>&#160;      <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a55521f52145fad420cfae41ce4740150">getHoughThreshold</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_hough3_d_grouping.html#a4143dedbc983daf41a4a1247ae93fb61">hough_threshold_</a>);</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;      }</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160; </div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00295"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#a866d42f0b08775aae337d2ed61c1c834">  295</a></span>&#160;      <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a866d42f0b08775aae337d2ed61c1c834">setHoughBinSize</a> (<span class="keywordtype">double</span> bin_size)</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      {</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;        <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a6f8845c48f998be01898b5e98dde61df">hough_bin_size_</a> = bin_size;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;        <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a693bad31eef837767c419eafef1c369f">hough_space_initialized_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      }</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00306"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#a8d4be09609f69be04a2a992a08f9ab78">  306</a></span>&#160;      <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a8d4be09609f69be04a2a992a08f9ab78">getHoughBinSize</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_hough3_d_grouping.html#a6f8845c48f998be01898b5e98dde61df">hough_bin_size_</a>);</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;      }</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160; </div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00317"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#a0102fa52853e876fe4d778303f5141a5">  317</a></span>&#160;      <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a0102fa52853e876fe4d778303f5141a5">setUseInterpolation</a> (<span class="keywordtype">bool</span> use_interpolation)</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;      {</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;        <a class="code" href="classpcl_1_1_hough3_d_grouping.html#aee23f5064417bd6cbee419ab57d65d67">use_interpolation_</a> = use_interpolation;</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;        <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a693bad31eef837767c419eafef1c369f">hough_space_initialized_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;      }</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160; </div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00329"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#a20edaa2c36dc80fca9b9d1f4d11624d5">  329</a></span>&#160;      <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a20edaa2c36dc80fca9b9d1f4d11624d5">getUseInterpolation</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_hough3_d_grouping.html#aee23f5064417bd6cbee419ab57d65d67">use_interpolation_</a>);</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      }</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160; </div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00339"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#acc900a577b052056bff781bef095884e">  339</a></span>&#160;      <a class="code" href="classpcl_1_1_hough3_d_grouping.html#acc900a577b052056bff781bef095884e">setUseDistanceWeight</a> (<span class="keywordtype">bool</span> use_distance_weight)</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;      {</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;        <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a54c782e31602fd647fd4973871c70002">use_distance_weight_</a> = use_distance_weight;</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;        <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a693bad31eef837767c419eafef1c369f">hough_space_initialized_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      }</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160; </div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00350"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#a14d39812313f7f882c3a3299ec80344d">  350</a></span>&#160;      <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a14d39812313f7f882c3a3299ec80344d">getUseDistanceWeight</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_hough3_d_grouping.html#a54c782e31602fd647fd4973871c70002">use_distance_weight_</a>);</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;      } </div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160; </div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00362"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#a215586d8e29fb530c8aa6ab461699492">  362</a></span>&#160;      <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a215586d8e29fb530c8aa6ab461699492">setLocalRfNormalsSearchRadius</a> (<span class="keywordtype">float</span> local_rf_normals_search_radius)</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;      {</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;        <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a167c6e65e18cf2b7524630ce7c4f8b53">local_rf_normals_search_radius_</a> = local_rf_normals_search_radius;</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;        <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a565b7cd857b83ecfb6b89c64c2fc4067">needs_training_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;        <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a693bad31eef837767c419eafef1c369f">hough_space_initialized_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;      }</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160; </div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00376"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#a387031f74f038380cb956db04e34f4d1">  376</a></span>&#160;      <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a387031f74f038380cb956db04e34f4d1">getLocalRfNormalsSearchRadius</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_hough3_d_grouping.html#a167c6e65e18cf2b7524630ce7c4f8b53">local_rf_normals_search_radius_</a>);</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;      }</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160; </div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00389"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#a2291ba9d84199dce9b29195edf771b30">  389</a></span>&#160;      <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a2291ba9d84199dce9b29195edf771b30">setLocalRfSearchRadius</a> (<span class="keywordtype">float</span> local_rf_search_radius)</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;      {</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;        <a class="code" href="classpcl_1_1_hough3_d_grouping.html#aea394d09fe22404ae9487c762c034c08">local_rf_search_radius_</a> = local_rf_search_radius;</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;        <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a565b7cd857b83ecfb6b89c64c2fc4067">needs_training_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;        <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a693bad31eef837767c419eafef1c369f">hough_space_initialized_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;      }</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160; </div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00404"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#a5e7826f875f742293f0ed25808899552">  404</a></span>&#160;      <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a5e7826f875f742293f0ed25808899552">getLocalRfSearchRadius</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_hough3_d_grouping.html#aea394d09fe22404ae9487c762c034c08">local_rf_search_radius_</a>);</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;      }</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160; </div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;      <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a5e20d3e6f7946b303bf7ed0426ed940a">train</a> ();</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160; </div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;      <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a39a0170877c51fbaf51e1119ecc34c05">recognize</a> (std::vector&lt;Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt; &amp;transformations);</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160; </div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;      <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a39a0170877c51fbaf51e1119ecc34c05">recognize</a> (std::vector&lt;Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt; &amp;transformations, std::vector&lt;pcl::Correspondences&gt; &amp;clustered_corrs);</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160; </div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_correspondence_grouping.html">CorrespondenceGrouping&lt;PointModelT, PointSceneT&gt;::input_</a>;</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_correspondence_grouping.html">CorrespondenceGrouping&lt;PointModelT, PointSceneT&gt;::scene_</a>;</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_correspondence_grouping.html">CorrespondenceGrouping&lt;PointModelT, PointSceneT&gt;::model_scene_corrs_</a>;</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160; </div>
<div class="line"><a name="l00442"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#ac15a3f73f40e24c79fcd74bf35ffe045">  442</a></span>&#160;      ModelRfCloudConstPtr <a class="code" href="classpcl_1_1_hough3_d_grouping.html#ac15a3f73f40e24c79fcd74bf35ffe045">input_rf_</a>;</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160; </div>
<div class="line"><a name="l00445"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#af5117555131a60e60ba2928005981f7a">  445</a></span>&#160;      SceneRfCloudConstPtr <a class="code" href="classpcl_1_1_hough3_d_grouping.html#af5117555131a60e60ba2928005981f7a">scene_rf_</a>;</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160; </div>
<div class="line"><a name="l00448"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#a565b7cd857b83ecfb6b89c64c2fc4067">  448</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a565b7cd857b83ecfb6b89c64c2fc4067">needs_training_</a>;</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160; </div>
<div class="line"><a name="l00451"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#a857b94d7c2951510b6e4990e5561b049">  451</a></span>&#160;      std::vector&lt;Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a857b94d7c2951510b6e4990e5561b049">model_votes_</a>;</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160; </div>
<div class="line"><a name="l00454"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#a4143dedbc983daf41a4a1247ae93fb61">  454</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a4143dedbc983daf41a4a1247ae93fb61">hough_threshold_</a>;</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160; </div>
<div class="line"><a name="l00457"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#a6f8845c48f998be01898b5e98dde61df">  457</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a6f8845c48f998be01898b5e98dde61df">hough_bin_size_</a>;</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160; </div>
<div class="line"><a name="l00460"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#aee23f5064417bd6cbee419ab57d65d67">  460</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_hough3_d_grouping.html#aee23f5064417bd6cbee419ab57d65d67">use_interpolation_</a>;</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160; </div>
<div class="line"><a name="l00463"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#a54c782e31602fd647fd4973871c70002">  463</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a54c782e31602fd647fd4973871c70002">use_distance_weight_</a>;</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160; </div>
<div class="line"><a name="l00466"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#a167c6e65e18cf2b7524630ce7c4f8b53">  466</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a167c6e65e18cf2b7524630ce7c4f8b53">local_rf_normals_search_radius_</a>;</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160; </div>
<div class="line"><a name="l00469"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#aea394d09fe22404ae9487c762c034c08">  469</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_hough3_d_grouping.html#aea394d09fe22404ae9487c762c034c08">local_rf_search_radius_</a>;</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160; </div>
<div class="line"><a name="l00472"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#a8273da7056cb2fedbfb86e29ea3b188b">  472</a></span>&#160;      boost::shared_ptr&lt;pcl::recognition::HoughSpace3D&gt; <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a8273da7056cb2fedbfb86e29ea3b188b">hough_space_</a>;</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160; </div>
<div class="line"><a name="l00475"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#a93db7b188c28ab188c34070408bc0940">  475</a></span>&#160;      std::vector&lt;Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt; <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a93db7b188c28ab188c34070408bc0940">found_transformations_</a>;</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160; </div>
<div class="line"><a name="l00480"></a><span class="lineno"><a class="line" href="classpcl_1_1_hough3_d_grouping.html#a693bad31eef837767c419eafef1c369f">  480</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a693bad31eef837767c419eafef1c369f">hough_space_initialized_</a>;</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160; </div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;      <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a2ce0b05ab0847a9719dfa7e6f05bb64f">clusterCorrespondences</a> (std::vector&lt;Correspondences&gt; &amp;model_instances);</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160; </div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;      <span class="comment">/*  \brief Finds the transformation matrix between the input and the scene cloud for a set of correspondences using a RANSAC algorithm.</span></div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;<span class="comment">        * \param[in] the scene cloud in which the PointSceneT has been converted to PointModelT.</span></div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;<span class="comment">        * \param[in] corrs a set of correspondences.</span></div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;<span class="comment">        * \param[out] transform the transformation matrix between the input cloud and the scene cloud that aligns the found correspondences.</span></div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;<span class="comment">        * \return true if the recognition had been successful or false if errors have occurred.</span></div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;<span class="comment">        */</span></div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;      <span class="comment">//bool</span></div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;      <span class="comment">//getTransformMatrix (const PointCloudConstPtr &amp;scene_cloud, const Correspondences &amp;corrs, Eigen::Matrix4f &amp;transform);</span></div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160; </div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;      <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a5653b21af3d636a5660ad6c2af95240b">houghVoting</a> ();</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160; </div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;      <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Type, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RfType&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;      <a class="code" href="classpcl_1_1_hough3_d_grouping.html#a778fa8404b2562b23f3dcaf71a5afe58">computeRf</a> (<span class="keyword">const</span> boost::shared_ptr&lt;<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointType&gt;</a> &gt; &amp;input, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointRfType&gt;</a> &amp;rf);</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;  };</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;}</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160; </div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/impl/cg/hough_3d.hpp&gt;</span></div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160; </div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_RECOGNITION_HOUGH_3D_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_correspondence_grouping_html"><div class="ttname"><a href="classpcl_1_1_correspondence_grouping.html">pcl::CorrespondenceGrouping</a></div><div class="ttdoc">Abstract base class for Correspondence Grouping algorithms.</div><div class="ttdef"><b>Definition:</b> correspondence_grouping.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_correspondence_grouping_html_a0a7d1212a23f16717d0ea30f83a79578"><div class="ttname"><a href="classpcl_1_1_correspondence_grouping.html#a0a7d1212a23f16717d0ea30f83a79578">pcl::CorrespondenceGrouping::model_scene_corrs_</a></div><div class="ttdeci">CorrespondencesConstPtr model_scene_corrs_</div><div class="ttdoc">The correspondences between points in the input and the scene datasets.</div><div class="ttdef"><b>Definition:</b> correspondence_grouping.h:139</div></div>
<div class="ttc" id="aclasspcl_1_1_correspondence_grouping_html_ab2b931fafa436428801a5674298c8e44"><div class="ttname"><a href="classpcl_1_1_correspondence_grouping.html#ab2b931fafa436428801a5674298c8e44">pcl::CorrespondenceGrouping::scene_</a></div><div class="ttdeci">SceneCloudConstPtr scene_</div><div class="ttdoc">The scene cloud.</div><div class="ttdef"><b>Definition:</b> correspondence_grouping.h:134</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html">pcl::Hough3DGrouping</a></div><div class="ttdoc">Class implementing a 3D correspondence grouping algorithm that can deal with multiple instances of a ...</div><div class="ttdef"><b>Definition:</b> hough_3d.h:146</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a0102fa52853e876fe4d778303f5141a5"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a0102fa52853e876fe4d778303f5141a5">pcl::Hough3DGrouping::setUseInterpolation</a></div><div class="ttdeci">void setUseInterpolation(bool use_interpolation)</div><div class="ttdoc">Sets whether the vote casting procedure interpolates the score between neighboring bins of the Hough ...</div><div class="ttdef"><b>Definition:</b> hough_3d.h:317</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a052ec949ec7c04d06e79c9a8068a433b"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a052ec949ec7c04d06e79c9a8068a433b">pcl::Hough3DGrouping::getInputRf</a></div><div class="ttdeci">ModelRfCloudConstPtr getInputRf() const</div><div class="ttdoc">Getter for the input dataset's reference frames. Each point in the reference frame cloud should be th...</div><div class="ttdef"><b>Definition:</b> hough_3d.h:212</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a128db6281c9d8e0b38c6d430ef058116"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a128db6281c9d8e0b38c6d430ef058116">pcl::Hough3DGrouping::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset.</div><div class="ttdef"><b>Definition:</b> hough_3d.h:183</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a14d39812313f7f882c3a3299ec80344d"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a14d39812313f7f882c3a3299ec80344d">pcl::Hough3DGrouping::getUseDistanceWeight</a></div><div class="ttdeci">bool getUseDistanceWeight() const</div><div class="ttdoc">Gets whether the vote casting procedure uses the correspondence's distance as a score.</div><div class="ttdef"><b>Definition:</b> hough_3d.h:350</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a167c6e65e18cf2b7524630ce7c4f8b53"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a167c6e65e18cf2b7524630ce7c4f8b53">pcl::Hough3DGrouping::local_rf_normals_search_radius_</a></div><div class="ttdeci">float local_rf_normals_search_radius_</div><div class="ttdoc">Normals search radius for the potential Rf calculation.</div><div class="ttdef"><b>Definition:</b> hough_3d.h:466</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a20edaa2c36dc80fca9b9d1f4d11624d5"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a20edaa2c36dc80fca9b9d1f4d11624d5">pcl::Hough3DGrouping::getUseInterpolation</a></div><div class="ttdeci">bool getUseInterpolation() const</div><div class="ttdoc">Gets whether the vote casting procedure interpolates the score between neighboring bins of the Hough ...</div><div class="ttdef"><b>Definition:</b> hough_3d.h:329</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a215586d8e29fb530c8aa6ab461699492"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a215586d8e29fb530c8aa6ab461699492">pcl::Hough3DGrouping::setLocalRfNormalsSearchRadius</a></div><div class="ttdeci">void setLocalRfNormalsSearchRadius(float local_rf_normals_search_radius)</div><div class="ttdoc">If the Local reference frame has not been set for either the model cloud or the scene cloud,...</div><div class="ttdef"><b>Definition:</b> hough_3d.h:362</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a2291ba9d84199dce9b29195edf771b30"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a2291ba9d84199dce9b29195edf771b30">pcl::Hough3DGrouping::setLocalRfSearchRadius</a></div><div class="ttdeci">void setLocalRfSearchRadius(float local_rf_search_radius)</div><div class="ttdoc">If the Local reference frame has not been set for either the model cloud or the scene cloud,...</div><div class="ttdef"><b>Definition:</b> hough_3d.h:389</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a2ad258fd1cd391d8e3ee09adc4cc94e3"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a2ad258fd1cd391d8e3ee09adc4cc94e3">pcl::Hough3DGrouping::setSceneRf</a></div><div class="ttdeci">void setSceneRf(const SceneRfCloudConstPtr &amp;scene_rf)</div><div class="ttdoc">Provide a pointer to the scene dataset's reference frames. Each point in the reference frame cloud sh...</div><div class="ttdef"><b>Definition:</b> hough_3d.h:236</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a2ce0b05ab0847a9719dfa7e6f05bb64f"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a2ce0b05ab0847a9719dfa7e6f05bb64f">pcl::Hough3DGrouping::clusterCorrespondences</a></div><div class="ttdeci">void clusterCorrespondences(std::vector&lt; Correspondences &gt; &amp;model_instances)</div><div class="ttdoc">Cluster the input correspondences in order to distinguish between different instances of the model in...</div><div class="ttdef"><b>Definition:</b> hough_3d.hpp:258</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a387031f74f038380cb956db04e34f4d1"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a387031f74f038380cb956db04e34f4d1">pcl::Hough3DGrouping::getLocalRfNormalsSearchRadius</a></div><div class="ttdeci">float getLocalRfNormalsSearchRadius() const</div><div class="ttdoc">If the Local reference frame has not been set for either the model cloud or the scene cloud,...</div><div class="ttdef"><b>Definition:</b> hough_3d.h:376</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a39a0170877c51fbaf51e1119ecc34c05"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a39a0170877c51fbaf51e1119ecc34c05">pcl::Hough3DGrouping::recognize</a></div><div class="ttdeci">bool recognize(std::vector&lt; Eigen::Matrix4f, Eigen::aligned_allocator&lt; Eigen::Matrix4f &gt; &gt; &amp;transformations)</div><div class="ttdoc">The main function, recognizes instances of the model into the scene set by the user.</div><div class="ttdef"><b>Definition:</b> hough_3d.hpp:333</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a4143dedbc983daf41a4a1247ae93fb61"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a4143dedbc983daf41a4a1247ae93fb61">pcl::Hough3DGrouping::hough_threshold_</a></div><div class="ttdeci">double hough_threshold_</div><div class="ttdoc">The minimum number of votes in the Hough space needed to infer the presence of a model instance into ...</div><div class="ttdef"><b>Definition:</b> hough_3d.h:454</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a54c782e31602fd647fd4973871c70002"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a54c782e31602fd647fd4973871c70002">pcl::Hough3DGrouping::use_distance_weight_</a></div><div class="ttdeci">bool use_distance_weight_</div><div class="ttdoc">Use the weighted correspondence distance when casting votes.</div><div class="ttdef"><b>Definition:</b> hough_3d.h:463</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a55521f52145fad420cfae41ce4740150"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a55521f52145fad420cfae41ce4740150">pcl::Hough3DGrouping::getHoughThreshold</a></div><div class="ttdeci">double getHoughThreshold() const</div><div class="ttdoc">Gets the minimum number of votes in the Hough space needed to infer the presence of a model instance ...</div><div class="ttdef"><b>Definition:</b> hough_3d.h:285</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a5653b21af3d636a5660ad6c2af95240b"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a5653b21af3d636a5660ad6c2af95240b">pcl::Hough3DGrouping::houghVoting</a></div><div class="ttdeci">bool houghVoting()</div><div class="ttdoc">The Hough space voting procedure.</div><div class="ttdef"><b>Definition:</b> hough_3d.hpp:137</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a565b7cd857b83ecfb6b89c64c2fc4067"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a565b7cd857b83ecfb6b89c64c2fc4067">pcl::Hough3DGrouping::needs_training_</a></div><div class="ttdeci">bool needs_training_</div><div class="ttdoc">If the training of the Hough space is needed; set on change of either the input cloud or the input_rf...</div><div class="ttdef"><b>Definition:</b> hough_3d.h:448</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a597bc71af146923a2717359e8ed45e50"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a597bc71af146923a2717359e8ed45e50">pcl::Hough3DGrouping::setModelSceneCorrespondences</a></div><div class="ttdeci">void setModelSceneCorrespondences(const CorrespondencesConstPtr &amp;corrs)</div><div class="ttdoc">Provide a pointer to the precomputed correspondences between points in the input dataset and points i...</div><div class="ttdef"><b>Definition:</b> hough_3d.h:261</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a5e20d3e6f7946b303bf7ed0426ed940a"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a5e20d3e6f7946b303bf7ed0426ed940a">pcl::Hough3DGrouping::train</a></div><div class="ttdeci">bool train()</div><div class="ttdoc">Call this function after setting the input, the input_rf and the hough_bin_size parameters to perform...</div><div class="ttdef"><b>Definition:</b> hough_3d.hpp:84</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a5e7826f875f742293f0ed25808899552"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a5e7826f875f742293f0ed25808899552">pcl::Hough3DGrouping::getLocalRfSearchRadius</a></div><div class="ttdeci">float getLocalRfSearchRadius() const</div><div class="ttdoc">If the Local reference frame has not been set for either the model cloud or the scene cloud,...</div><div class="ttdef"><b>Definition:</b> hough_3d.h:404</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a693bad31eef837767c419eafef1c369f"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a693bad31eef837767c419eafef1c369f">pcl::Hough3DGrouping::hough_space_initialized_</a></div><div class="ttdeci">bool hough_space_initialized_</div><div class="ttdoc">Whether the Hough space already contains the correct votes for the current input parameters and so th...</div><div class="ttdef"><b>Definition:</b> hough_3d.h:480</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a6f8845c48f998be01898b5e98dde61df"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a6f8845c48f998be01898b5e98dde61df">pcl::Hough3DGrouping::hough_bin_size_</a></div><div class="ttdeci">double hough_bin_size_</div><div class="ttdoc">The size of each bin of the hough space.</div><div class="ttdef"><b>Definition:</b> hough_3d.h:457</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a778fa8404b2562b23f3dcaf71a5afe58"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a778fa8404b2562b23f3dcaf71a5afe58">pcl::Hough3DGrouping::computeRf</a></div><div class="ttdeci">void computeRf(const boost::shared_ptr&lt; const pcl::PointCloud&lt; PointType &gt; &gt; &amp;input, pcl::PointCloud&lt; PointRfType &gt; &amp;rf)</div><div class="ttdoc">Computes the reference frame for an input cloud.</div><div class="ttdef"><b>Definition:</b> hough_3d.hpp:54</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a8273da7056cb2fedbfb86e29ea3b188b"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a8273da7056cb2fedbfb86e29ea3b188b">pcl::Hough3DGrouping::hough_space_</a></div><div class="ttdeci">boost::shared_ptr&lt; pcl::recognition::HoughSpace3D &gt; hough_space_</div><div class="ttdoc">The Hough space.</div><div class="ttdef"><b>Definition:</b> hough_3d.h:472</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a857b94d7c2951510b6e4990e5561b049"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a857b94d7c2951510b6e4990e5561b049">pcl::Hough3DGrouping::model_votes_</a></div><div class="ttdeci">std::vector&lt; Eigen::Vector3f, Eigen::aligned_allocator&lt; Eigen::Vector3f &gt; &gt; model_votes_</div><div class="ttdoc">The result of the training. The vector between each model point and the centroid of the model adjuste...</div><div class="ttdef"><b>Definition:</b> hough_3d.h:451</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a866d42f0b08775aae337d2ed61c1c834"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a866d42f0b08775aae337d2ed61c1c834">pcl::Hough3DGrouping::setHoughBinSize</a></div><div class="ttdeci">void setHoughBinSize(double bin_size)</div><div class="ttdoc">Sets the size of each bin into the Hough space.</div><div class="ttdef"><b>Definition:</b> hough_3d.h:295</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a877d543207cc31cb21536ec566f5b3e9"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a877d543207cc31cb21536ec566f5b3e9">pcl::Hough3DGrouping::setSceneCloud</a></div><div class="ttdeci">void setSceneCloud(const SceneCloudConstPtr &amp;scene)</div><div class="ttdoc">Provide a pointer to the scene dataset (i.e. the cloud in which the algorithm has to search for insta...</div><div class="ttdef"><b>Definition:</b> hough_3d.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a8d4be09609f69be04a2a992a08f9ab78"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a8d4be09609f69be04a2a992a08f9ab78">pcl::Hough3DGrouping::getHoughBinSize</a></div><div class="ttdeci">double getHoughBinSize() const</div><div class="ttdoc">Gets the size of each bin into the Hough space.</div><div class="ttdef"><b>Definition:</b> hough_3d.h:306</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a8f7af4b86f2f7effa2eabd844f4ffe28"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a8f7af4b86f2f7effa2eabd844f4ffe28">pcl::Hough3DGrouping::setInputRf</a></div><div class="ttdeci">void setInputRf(const ModelRfCloudConstPtr &amp;input_rf)</div><div class="ttdoc">Provide a pointer to the input dataset's reference frames. Each point in the reference frame cloud sh...</div><div class="ttdef"><b>Definition:</b> hough_3d.h:198</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_a93db7b188c28ab188c34070408bc0940"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#a93db7b188c28ab188c34070408bc0940">pcl::Hough3DGrouping::found_transformations_</a></div><div class="ttdeci">std::vector&lt; Eigen::Matrix4f, Eigen::aligned_allocator&lt; Eigen::Matrix4f &gt; &gt; found_transformations_</div><div class="ttdoc">Transformations found by clusterCorrespondences method.</div><div class="ttdef"><b>Definition:</b> hough_3d.h:475</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_ac15a3f73f40e24c79fcd74bf35ffe045"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#ac15a3f73f40e24c79fcd74bf35ffe045">pcl::Hough3DGrouping::input_rf_</a></div><div class="ttdeci">ModelRfCloudConstPtr input_rf_</div><div class="ttdoc">The input Rf cloud.</div><div class="ttdef"><b>Definition:</b> hough_3d.h:442</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_ac832e662f91a1442357102e1fcc86ead"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#ac832e662f91a1442357102e1fcc86ead">pcl::Hough3DGrouping::setHoughThreshold</a></div><div class="ttdeci">void setHoughThreshold(double threshold)</div><div class="ttdoc">Sets the minimum number of votes in the Hough space needed to infer the presence of a model instance ...</div><div class="ttdef"><b>Definition:</b> hough_3d.h:275</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_acc900a577b052056bff781bef095884e"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#acc900a577b052056bff781bef095884e">pcl::Hough3DGrouping::setUseDistanceWeight</a></div><div class="ttdeci">void setUseDistanceWeight(bool use_distance_weight)</div><div class="ttdoc">Sets whether the vote casting procedure uses the correspondence's distance as a score.</div><div class="ttdef"><b>Definition:</b> hough_3d.h:339</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_ad4aa8ea44d4c35082b7beac6cc3cc730"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#ad4aa8ea44d4c35082b7beac6cc3cc730">pcl::Hough3DGrouping::Hough3DGrouping</a></div><div class="ttdeci">Hough3DGrouping()</div><div class="ttdoc">Constructor</div><div class="ttdef"><b>Definition:</b> hough_3d.h:163</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_adc098cef4277d39060683e4cbffd020e"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#adc098cef4277d39060683e4cbffd020e">pcl::Hough3DGrouping::getSceneRf</a></div><div class="ttdeci">SceneRfCloudConstPtr getSceneRf() const</div><div class="ttdoc">Getter for the scene dataset's reference frames. Each point in the reference frame cloud should be th...</div><div class="ttdef"><b>Definition:</b> hough_3d.h:249</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_aea394d09fe22404ae9487c762c034c08"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#aea394d09fe22404ae9487c762c034c08">pcl::Hough3DGrouping::local_rf_search_radius_</a></div><div class="ttdeci">float local_rf_search_radius_</div><div class="ttdoc">Search radius for the potential Rf calculation.</div><div class="ttdef"><b>Definition:</b> hough_3d.h:469</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_aee23f5064417bd6cbee419ab57d65d67"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#aee23f5064417bd6cbee419ab57d65d67">pcl::Hough3DGrouping::use_interpolation_</a></div><div class="ttdeci">bool use_interpolation_</div><div class="ttdoc">Use the interpolation between neighboring Hough bins when casting votes.</div><div class="ttdef"><b>Definition:</b> hough_3d.h:460</div></div>
<div class="ttc" id="aclasspcl_1_1_hough3_d_grouping_html_af5117555131a60e60ba2928005981f7a"><div class="ttname"><a href="classpcl_1_1_hough3_d_grouping.html#af5117555131a60e60ba2928005981f7a">pcl::Hough3DGrouping::scene_rf_</a></div><div class="ttdeci">SceneRfCloudConstPtr scene_rf_</div><div class="ttdoc">The scene Rf cloud.</div><div class="ttdef"><b>Definition:</b> hough_3d.h:445</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a1952d7101f3942bac3b69ed55c1ca7ea"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">pcl::PCLBase::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_hough_space3_d_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_hough_space3_d.html">pcl::recognition::HoughSpace3D</a></div><div class="ttdoc">HoughSpace3D is a 3D voting space. Cast votes can be interpolated in order to better deal with approx...</div><div class="ttdef"><b>Definition:</b> hough_3d.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_hough_space3_d_html_a02883fef1635f8acff4ec0eb9734ccb8"><div class="ttname"><a href="classpcl_1_1recognition_1_1_hough_space3_d.html#a02883fef1635f8acff4ec0eb9734ccb8">pcl::recognition::HoughSpace3D::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdoc">Reset all cast votes.</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_hough_space3_d_html_a1ea4505f978658663fabae1f344fe5fb"><div class="ttname"><a href="classpcl_1_1recognition_1_1_hough_space3_d.html#a1ea4505f978658663fabae1f344fe5fb">pcl::recognition::HoughSpace3D::total_bins_count_</a></div><div class="ttdeci">int total_bins_count_</div><div class="ttdoc">Total number of bins in the Hough Space.</div><div class="ttdef"><b>Definition:</b> hough_3d.h:120</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_hough_space3_d_html_a28389f1e0298086a023af7b97b1a6f62"><div class="ttname"><a href="classpcl_1_1recognition_1_1_hough_space3_d.html#a28389f1e0298086a023af7b97b1a6f62">pcl::recognition::HoughSpace3D::bin_count_</a></div><div class="ttdeci">Eigen::Vector3i bin_count_</div><div class="ttdoc">Number of bins for each dimension.</div><div class="ttdef"><b>Definition:</b> hough_3d.h:114</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_hough_space3_d_html_a49c4530975900e5d9d5c882858ca56fd"><div class="ttname"><a href="classpcl_1_1recognition_1_1_hough_space3_d.html#a49c4530975900e5d9d5c882858ca56fd">pcl::recognition::HoughSpace3D::findMaxima</a></div><div class="ttdeci">double findMaxima(double min_threshold, std::vector&lt; double &gt; &amp;maxima_values, std::vector&lt; std::vector&lt; int &gt; &gt; &amp;maxima_voter_ids)</div><div class="ttdoc">Find the bins with most votes.</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_hough_space3_d_html_a5291aa83dd66fab19878ac47388c7ddf"><div class="ttname"><a href="classpcl_1_1recognition_1_1_hough_space3_d.html#a5291aa83dd66fab19878ac47388c7ddf">pcl::recognition::HoughSpace3D::vote</a></div><div class="ttdeci">int vote(const Eigen::Vector3d &amp;single_vote_coord, double weight, int voter_id)</div><div class="ttdoc">Casting a vote for a given position in the Hough space.</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_hough_space3_d_html_a535f20e1abeaa902fd942d4e1a74604c"><div class="ttname"><a href="classpcl_1_1recognition_1_1_hough_space3_d.html#a535f20e1abeaa902fd942d4e1a74604c">pcl::recognition::HoughSpace3D::hough_space_</a></div><div class="ttdeci">std::vector&lt; double &gt; hough_space_</div><div class="ttdoc">The Hough Space.</div><div class="ttdef"><b>Definition:</b> hough_3d.h:123</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_hough_space3_d_html_a8ec9a3c8ce71066918e4311df5f1fcbc"><div class="ttname"><a href="classpcl_1_1recognition_1_1_hough_space3_d.html#a8ec9a3c8ce71066918e4311df5f1fcbc">pcl::recognition::HoughSpace3D::HoughSpace3D</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW HoughSpace3D(const Eigen::Vector3d &amp;min_coord, const Eigen::Vector3d &amp;bin_size, const Eigen::Vector3d &amp;max_coord)</div><div class="ttdoc">Constructor</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_hough_space3_d_html_a9edb239fdfeccede06621d455bf683dd"><div class="ttname"><a href="classpcl_1_1recognition_1_1_hough_space3_d.html#a9edb239fdfeccede06621d455bf683dd">pcl::recognition::HoughSpace3D::voteInt</a></div><div class="ttdeci">int voteInt(const Eigen::Vector3d &amp;single_vote_coord, double weight, int voter_id)</div><div class="ttdoc">Vote for a given position in the 3D space. The weight is interpolated between the bin pointed by sing...</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_hough_space3_d_html_ac81d49cf5a916c3c7d39d96dff01826f"><div class="ttname"><a href="classpcl_1_1recognition_1_1_hough_space3_d.html#ac81d49cf5a916c3c7d39d96dff01826f">pcl::recognition::HoughSpace3D::min_coord_</a></div><div class="ttdeci">Eigen::Vector3d min_coord_</div><div class="ttdoc">Minimum coordinate in the Hough Space.</div><div class="ttdef"><b>Definition:</b> hough_3d.h:108</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_hough_space3_d_html_add6880af75dcef7fff2b94a1a7de6747"><div class="ttname"><a href="classpcl_1_1recognition_1_1_hough_space3_d.html#add6880af75dcef7fff2b94a1a7de6747">pcl::recognition::HoughSpace3D::bin_size_</a></div><div class="ttdeci">Eigen::Vector3d bin_size_</div><div class="ttdoc">Size of each bin in the Hough Space.</div><div class="ttdef"><b>Definition:</b> hough_3d.h:111</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_hough_space3_d_html_aded7b5ebab3f5b3ffb8a86e34eabe980"><div class="ttname"><a href="classpcl_1_1recognition_1_1_hough_space3_d.html#aded7b5ebab3f5b3ffb8a86e34eabe980">pcl::recognition::HoughSpace3D::voter_ids_</a></div><div class="ttdeci">boost::unordered_map&lt; int, std::vector&lt; int &gt; &gt; voter_ids_</div><div class="ttdoc">List of voters for each bin.</div><div class="ttdef"><b>Definition:</b> hough_3d.h:127</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
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